What are the SDF Damping Units?

Here's the description of SDF joint --> axis --> dynamics --> damping, "The physical velocity dependent viscous damping coefficient of the joint." Can you tell me what units this number is interpreted as having.

Comments

Please do not confuse `joint->axis->dynamics -> damping` (which has the same units as in URDF's joints, i e. force/velocity ratio or toque/angular velocity ratio depending on joint type) with `velocity_decay` , which are pure unit-less scalars indeed.

There should be no unit I think, since we should have something like energy_loss = damping * joint_velocity. I did not run any test, but one could run a simulation with two balls (one with damping, the other one without) fixed to the ground by prismatic joints and log information about velocity.